rcS启动

  研究PX4一段时间，发现绕了很大的圈子，分析NUTTX系统是费时费力的，其实大可不必，Nuttx只是一个操作系统，作为飞控程序的载体，实际上我们只需要分析启动脚本就可以了。如何找到启动脚本及前面系统的启动本分的分析，参看一篇博文，写的非常好，在这里谢谢了。

http://blog.chinaunix.net/uid-29786319-id-4393303.html

        对于os_start()的分析，这篇写的很不错。

http://blog.csdn.net/zhumaill/article/details/23261543

        博文内容不贴了，最终作者，如查看请移步原帖。

        前人的工作不说了，直说下他们的分析是基于前面版本，我下到的代码版本已经更新了许多，不过大差不差，对比着看肯定是可以看懂的。现在直接分析现有版本的rCS启动脚本。

sercon     

set MODE autostart                               #设置启动变量模式                       

set FRC /fs/microsd/etc/rc.txt                 #设置了几个文件路径，后面估计用到

set FCONFIG /fs/microsd/etc/config.txt

set TUNE_ERR ML<<CP4CP4CP4CP4CP4

set LOG_FILE /fs/microsd/bootlog.txt

if mount -t vfat /dev/mmcsd0 /fs/microsd      #挂载SD卡，失败成功声音不同

then

echo "[i] microSD mounted: /fs/microsd"

tone_alarm start

else

tone_alarm MBAGP

if mkfatfs /dev/mmcsd0

then

if mount -t vfat /dev/mmcsd0 /fs/microsd

then

echo "[i] microSD card formatted"

else

echo "[i] format failed"

tone_alarm MNBG

set LOG_FILE /dev/null

fi

else

set LOG_FILE /dev/null

fi

fi

if [ -f $FRC ]                                 #找SD卡上的启动文件，如果发现，转入custom mode 

then

echo "[i] Executing script: $FRC"

sh $FRC

set MODE custom

fi

unset FRC

if [ $MODE == autostart ]

then

  #如果是autostart mode，尝试得到USB指令，新版本将其放到了这，系统启动就可以接受usb指令

nshterm /dev/ttyACM0 &       

uorb start                                           #启动uorb  uorb为系统间非常重要的消息传递机制

set PARAM_FILE /fs/microsd/params     #设置参数文件的路径，默认在SD卡里面

if mtd start                             #如果EEPROM启动成功，将参数设置路径设置到EEPROM中，PIXhawk中有               then                                              #EEPROM，这就是在内存卡中无参数配置文件的原因

set PARAM_FILE /fs/mtd_params

fi

param select $PARAM_FILE                #加载参数

if param load

then

echo "[param] Loaded: $PARAM_FILE"

else

echo "[param] FAILED loading $PARAM_FILE"

if param reset

then

fi

fi

if param compare RC_MAP_THROTTLE 0    #如果RC_MAP_throttle  是0   下面的几个比较都是对遥控器进行检测

then

if param compare RC3_MIN 1000

then

else

param set RC_MAP_THROTTLE 3

fi

fi

if param compare RC_MAP_ROLL 0

then

if param compare RC1_MIN 1000

then

else

param set RC_MAP_ROLL 1

fi

fi

if param compare RC_MAP_PITCH 0

then

if param compare RC2_MIN 1000

then

else

param set RC_MAP_PITCH 2

fi

fi

if param compare RC_MAP_YAW 0

then

if param compare RC4_MIN 1000

then

else

param set RC_MAP_YAW 4                   #遥控器的四个通道

fi

fi

if rgbled start                 #如果有外界LED

then

else

if blinkm start

then

blinkm systemstate

fi

fi

set HIL no                                  #设置一些默认参数，后面会被改动，不一一列举

set VEHICLE_TYPE none

set MIXER none

set MIXER_AUX none

set OUTPUT_MODE none

set PWM_OUT none

set PWM_RATE none

set PWM_DISARMED none

set PWM_MIN none

set PWM_MAX none

set PWM_AUX_OUT none

set PWM_AUX_RATE none

set PWM_AUX_DISARMED none

set PWM_AUX_MIN none

set PWM_AUX_MAX none

set FAILSAFE_AUX none

set MK_MODE none

set FMU_MODE pwm

set AUX_MODE pwm

set MAVLINK_F default

set EXIT_ON_END no

set MAV_TYPE none

set LOAD_DAPPS yes

set GPS yes

set GPS_FAKE no

set FAILSAFE none

if param compare SYS_AUTOCONFIG 1             #如果SYS_AUTOCONFIG 是1

then

param reset_nostart RC*

set AUTOCNF yes

else

set AUTOCNF no

fi

if param compare SYS_USE_IO 1                     #如果SYS_USE_IO 1 是1

then

set USE_IO yes

else

set USE_IO no

fi

if param compare SYS_AUTOSTART 0                   #如果SYS_AUTOSTART是0

then

echo "[i] No autostart"

else                                                           #如果SYS_AUTOSTART是1的话启动rc_autostart，关于此文件会另                      sh /etc/init.d/rc.autostart                #外开帖分析

fi

unset MODE

if [ -f $FCONFIG ]                                   #如果用户配置文件config.txt存在，执行里面的设置

then

echo "[i] Custom config: $FCONFIG"

sh $FCONFIG

fi

unset FCONFIG

if [ $AUTOCNF == yes ]                     ##如果AUTOCNF为1，清零SYS_AUTOCONFIG

then

param set SYS_AUTOCONFIG 0

param save

fi

unset AUTOCNF

set IO_PRESENT no                     #初始化IO_PRESENT为0

if [ $USE_IO == yes ]                    #如果USE_IO为1，对Firmware更新

then

if [ -f /etc/extras/px4io-v2_default.bin ]

then

set IO_FILE /etc/extras/px4io-v2_default.bin

else

set IO_FILE /etc/extras/px4io-v1_default.bin

fi

if px4io checkcrc ${IO_FILE}

then

echo "PX4IO CRC OK" >> $LOG_FILE

set IO_PRESENT yes

else

echo "PX4IO Trying to update" >> $LOG_FILE

tone_alarm MLL32CP8MB

if px4io start

then

if px4io safety_on

then

else

px4io stop

fi

fi

if px4io forceupdate 14662 ${IO_FILE}

then

usleep 500000

if px4io checkcrc $IO_FILE

then

echo "PX4IO CRC OK after updating" >> $LOG_FILE

tone_alarm MLL8CDE

set IO_PRESENT yes

else

echo "ERROR: PX4IO update failed" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

else

echo "ERROR: PX4IO update failed" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

fi

unset IO_FILE

if [ $IO_PRESENT == no ]

then

echo "[i] ERROR: PX4IO not found"

echo "ERROR: PX4IO not found" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

fi

if [ $OUTPUT_MODE == none ]               #判断OUTPUT_MODE，初始化为none，最终执行结果将                                                                                      #OUTPUT_MODE 设置成了fmu

then

if [ $USE_IO == yes ]

then

set OUTPUT_MODE io

else

set OUTPUT_MODE fmu

fi

fi

if [ $OUTPUT_MODE == io -a $IO_PRESENT != yes ]        #设置FMU mode

then

set OUTPUT_MODE none

echo "[i] ERROR: PX4IO not found, disabling output"

if ver hwcmp PX4FMU_V1

then

set FMU_MODE serial

fi

fi

if [ $OUTPUT_MODE == ardrone ]

then

set FMU_MODE gpio_serial

fi

if [ $HIL == yes ]

then

set OUTPUT_MODE hil

set GPS no

if ver hwcmp PX4FMU_V1

then

set FMU_MODE serial

fi

fi

unset HIL

if dataman start

then

fi

sh /etc/init.d/rc.sensors                #启动各种传感器

if [ $GPS == yes ]                      #启动GPS

then

if [ $GPS_FAKE == yes ]

then

echo "[i] Faking GPS"

gps start -f

else

gps start

fi

fi

unset GPS

unset GPS_FAKE

commander start

set TTYS1_BUSY no      

if [ $OUTPUT_MODE != none ]

then

if [ $OUTPUT_MODE == uavcan_esc ]

then

if param compare UAVCAN_ENABLE 0

then

echo "[i] OVERRIDING UAVCAN_ENABLE = 1"

param set UAVCAN_ENABLE 1

fi

fi

if [ $OUTPUT_MODE == io -o $OUTPUT_MODE == uavcan_esc ]

then

if px4io start

then

sh /etc/init.d/rc.io

else

echo "ERROR: PX4IO start failed" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

fi

if [ $OUTPUT_MODE == fmu -o $OUTPUT_MODE == ardrone ]

then

if fmu mode_$FMU_MODE

then

echo "[i] FMU mode_$FMU_MODE started"       #这个是我们的选项

else

echo "[i] ERROR: FMU mode_$FMU_MODE start failed"

echo "ERROR: FMU start failed" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

if ver hwcmp PX4FMU_V1                        #判断版本，启动pwm

then

if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]

then

set TTYS1_BUSY yes

fi

if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]

then

set TTYS1_BUSY yes

fi

fi

fi

if [ $OUTPUT_MODE == mkblctrl ]

then

set MKBLCTRL_ARG ""

if [ $MKBLCTRL_MODE == x ]

then

set MKBLCTRL_ARG "-mkmode x"

fi

if [ $MKBLCTRL_MODE == + ]

then

set MKBLCTRL_ARG "-mkmode +"

fi

if mkblctrl $MKBLCTRL_ARG

then

echo "[i] MK started"

else

echo "[i] ERROR: MK start failed"

echo "ERROR: MK start failed" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

unset MKBLCTRL_ARG

fi

unset MK_MODE

if [ $OUTPUT_MODE == hil ]

then

if pwm_out_sim mode_port2_pwm8

then

echo "[i] PWM SIM output started"

else

echo "[i] ERROR: PWM SIM output start failed"

echo "ERROR: PWM SIM output start failed" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

fi

if [ $IO_PRESENT == yes ]

then

if [ $OUTPUT_MODE != io ]

then

if px4io start

then

echo "[i] PX4IO started"

sh /etc/init.d/rc.io

else

echo "[i] ERROR: PX4IO start failed"

echo "ERROR: PX4IO start failed" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

fi

else

if [ $OUTPUT_MODE != fmu -a $OUTPUT_MODE != ardrone ]

then

if fmu mode_$FMU_MODE

then

echo "[i] FMU mode_$FMU_MODE started"

else

echo "[i] ERROR: FMU mode_$FMU_MODE start failed"

echo "ERROR: FMU mode_$FMU_MODE start failed" >> $LOG_FILE

tone_alarm $TUNE_ERR

fi

if ver hwcmp PX4FMU_V1

then

if [ $FMU_MODE == pwm -o $FMU_MODE == gpio ]

then

set TTYS1_BUSY yes

fi

if [ $FMU_MODE == pwm_gpio -o $OUTPUT_MODE == ardrone ]

then

set TTYS1_BUSY yes

fi

fi

fi

fi

fi

if [ $MAVLINK_F == default ]              #下面几行启动MSVLINK   

then

if [ $TTYS1_BUSY == yes ]

then

set MAVLINK_F "-r 1200 -d /dev/ttyS0"

set EXIT_ON_END yes

else

set MAVLINK_F "-r 1200"

fi

fi

mavlink start $MAVLINK_F

unset MAVLINK_F

if ver hwcmp PX4FMU_V2             #如果板子版本为V2,

then

if param compare SYS_COMPANION 921600  #检测mavlink存在，如果在则启动,这个不知道是啥

then

mavlink start -d /dev/ttyS2 -b 921600 -m onboard -r 80000 -x

fi

if param compare SYS_COMPANION 57600             #检测mavlink存在，如果在则启动，数传

then

mavlink start -d /dev/ttyS2 -b 57600 -m onboard -r 5000 -x

fi

if param compare SYS_COMPANION 157600            #检测mavlink存在，如果则启动，USB

then

mavlink start -d /dev/ttyS2 -b 57600 -m osd -r 1000

fi

if param compare SENS_EN_LL40LS 1         #检测某个距离传感器，官网上有介绍   

then

set AUX_MODE pwm4

fi

if param greater TRIG_MODE 0        #摄像头触发模式检测                   

then

set MIXER_AUX none

set AUX_MODE none

camera_trigger start

fi

fi

sh /etc/init.d/rc.uavcan                           #启动了两个脚本，主要用于启动uavcan和sdlog这两个模块

sh /etc/init.d/rc.logging                          #

if [ $OUTPUT_MODE == ardrone ]             

then

ardrone_interface start -d /dev/ttyS1

fi

if [ $VEHICLE_TYPE == fw ]                        #固定翼的设置，暂时不是研究对象

then

echo "[i] FIXED WING"

if [ $MIXER == none ]

then

set MIXER AERT

fi

if [ $MAV_TYPE == none ]

then

set MAV_TYPE 1

fi

param set MAV_TYPE $MAV_TYPE

sh /etc/init.d/rc.interface

if [ $LOAD_DAPPS == yes ]

then

sh /etc/init.d/rc.fw_apps

fi

fi

if [ $VEHICLE_TYPE == mc ]                       #多旋翼设置

then

echo "[i] MULTICOPTER"            

if [ $MIXER == none ]            

then

echo "Mixer undefined"

fi

if [ $MAV_TYPE == none ]

then

if [ $MIXER == quad_x -o $MIXER == quad_+ ]

then

set MAV_TYPE 2

fi

if [ $MIXER == quad_w -o $MIXER == sk450_deadcat ]

then

set MAV_TYPE 2

fi

if [ $MIXER == tri_y_yaw- -o $MIXER == tri_y_yaw+ ]

then

set MAV_TYPE 15

fi

if [ $MIXER == hexa_x -o $MIXER == hexa_+ ]

then

set MAV_TYPE 13

fi

if [ $MIXER == hexa_cox ]

then

set MAV_TYPE 13

fi

if [ $MIXER == octo_x -o $MIXER == octo_+ ]

then

set MAV_TYPE 14

fi

if [ $MIXER == octo_cox ]

then

set MAV_TYPE 14

fi

fi

if [ $MAV_TYPE == none ]

then

echo "Unknown MAV_TYPE"

param set MAV_TYPE 2

else

param set MAV_TYPE $MAV_TYPE

fi

sh /etc/init.d/rc.interface       #PWM的设置和接口

if [ $LOAD_DAPPS == yes ]

then

sh /etc/init.d/rc.mc_apps      #核心中的核心，在这里启动了位置和高度的计算算法，具体看这个文件

fi

fi

if [ $VEHICLE_TYPE == vtol ]       #垂直起降机神马的云云，本人只研究四旋翼

then

echo "[init] Vehicle type: VTOL"

if [ $MIXER == none ]

then

echo "Default mixer for vtol not defined"

fi

if [ $MAV_TYPE == none ]

then

if [ $MIXER == caipirinha_vtol ]

then

set MAV_TYPE 19

fi

if [ $MIXER == firefly6 ]

then

set MAV_TYPE 21

fi

if [ $MIXER == quad_x_pusher_vtol ]

then

set MAV_TYPE 22

fi

fi

if [ $MAV_TYPE == none ]

then

echo "Unknown MAV_TYPE"

param set MAV_TYPE 19

else

param set MAV_TYPE $MAV_TYPE

fi

sh /etc/init.d/rc.interface                      

if [ $LOAD_DAPPS == yes ]

then

sh /etc/init.d/rc.vtol_apps

fi

fi

if [ $VEHICLE_TYPE == rover ]            #无关飞机类型

then

set MAV_TYPE 10

sh /etc/init.d/rc.interface

if [ $LOAD_DAPPS == yes ]

then

sh /etc/init.d/rc.axialracing_ax10_apps

fi

param set MAV_TYPE 10

fi

unset MIXER

unset MAV_TYPE

unset OUTPUT_MODE

navigator start             #启动导航

if [ $VEHICLE_TYPE == none ]

then

echo "[i] No autostart ID found"

fi

set FEXTRAS /fs/microsd/etc/extras.txt

if [ -f $FEXTRAS ]

then

echo "[i] Addons script: $FEXTRAS"

sh $FEXTRAS

fi

unset FEXTRAS

if [ $LOG_FILE == /dev/null ]

then

echo "[i] No microSD card found"

tone_alarm error

fi

fi

unset TUNE_ERR

mavlink boot_complete

if param compare SENS_EN_LL40LS 1

then

if pwm_input start

then

if ll40ls start pwm

then

fi

fi

fi

if ver hwcmp PX4FMU_V2

then

px4flow start &             #v2板启动

fi

if [ $EXIT_ON_END == yes ]

then

echo "Exit from nsh"

exit

fi

unset EXIT_ON_END